Calibration device, method and system for a container crane

Abstract

A device, method and system for automatic calibration of a container crane, the container crane being controlled by a system including a first sensor (LPS) and/or a second sensor (TPS), are provided. A calibration rig is arranged in a fixed position and includes a plurality of markers, each arranged at a known and fixed position and distance relative to one another. The markers may include a first marker with a first visual appearance, or active marker and/or a second marker with a second visual appearance, or passive marker. The active marker is preferably an illumination source, such as an IR source. A method for calibrating a container crane using the calibration device and a container control system including the calibration device and one or more computer programs are also described.

1. A calibration device for automatic calibration of a container crane, said container crane being controlled by a system comprising at least one of a first sensor and a second sensor, characterised by a calibration rig arranged in a fixed position and comprising a plurality of markers, each arranged at a known and fixed position and distance relative to one another. 
     
     
       2. The device according to  claim 1 , characterised in that the calibration rig is arranged in a fixed position in a container yard, freight yard or harbour. 
     
     
       3. The device according to  claim 1 , characterised in that the calibration rig is arranged with at least two first markers comprising a surface with a first visual appearance. 
     
     
       4. The device according to  claim 3 , characterised in that the calibration rig is arranged with at least two second markers comprising a surface with a second visual appearance. 
     
     
       5. The device according to  claim 4 , characterised in that two first or active markers) comprise an illumination source from any of the group of: IR laser, IR lamp, visible spectra lamp. 
     
     
       6. The device according to  claim 1 , characterised in that the plurality of markers are arranged such that at least two first or active markers are arranged in the same known and substantially horizontal plane and separated by a known distance. 
     
     
       7. The device according to  claim 1 , characterised in that the plurality of markers are arranged such that at least two first or active markers are arranged in the same known and substantially vertical plane and separated by a known distance. 
     
     
       8. The device according to  claim 1 , characterised in that
 at least two first or active markers are arranged in the same known and substantially horizontal plane and separated by a known distance and a third first or active marker is arranged substantially vertically above the first two active markers and separated by a known distance. 
 
     
     
       9. The device according to  claim 1 , characterised in that said at least first sensor is part of a load position system and said second sensor is part of a target position system. 
     
     
       10. A method for automatic calibration of a container crane, said container crane being controlled by a system comprising at least one of a first sensor and a second sensor,
 characterised by moving the crane to a position adjacent a fixed and known calibration device, making an image of a plurality of markers using said at least one first sensor, and calculating one or more position parameters for at least one control model for controlling the crane relative to a position of a load or a target landing/lifting position. 
 
     
     
       11. The method according to  claim 10 , characterised by making an image of at least two first or active markers comprised in said plurality of markers arranged on a calibration rig. 
     
     
       12. The method according to  claim 10 , characterised by calculating positions of a load position system camera from the image of at least two first or active markers relative to a spreader position. 
     
     
       13. The method according to  claim 12 , characterised by making one or more images of target position passive markers using a distance measuring means or a laser scanner. 
     
     
       14. The method according to  claim 12 , characterised by calculating positions of a trolley house relative to second or passive markers. 
     
     
       15. The method according to  claim 12 , characterised by applying an adaptation algorithm to a load position system calibration in respect of an error. 
     
     
       16. The method according to  claim 10 , characterised by making an image of at least two second markers with a second visual appearance, or passive markers comprised in said plurality of markers using the second sensor. 
     
     
       17. A container crane control system comprising at least one container crane, said system comprising at least one of a first sensor and a second sensor arranged on said crane, characterised by at least one calibration rig arranged in a fixed position relative the crane and comprising a plurality of markers, each arranged at a known and fixed position and distance relative to one another. 
     
     
       18. The container crane control system according to  claim 17 , characterised by a memory storage means comprising a computer program for automatic calibration of the container crane, said container crane being controlled by a system comprising at least a first sensor and a second sensor, said computer program comprising at least one of computer code and computer software means which, when fed into a computer or processor, will make the processor or computer carry out a method for automatic calibration of the container crane.